function [ output ]=virtul_r_d(input)
%Environmental interference force
Tau1=0;
Tau2=0;
Tau3=0;

%Heavy vehicle
m11=646;
m22=837;
m33=155;
m23=0;
m32=0;
d11=303;
d22=425;
d33=74;
d23=0;
d32=0;

%parameter
k4=1;

lambda=input(1);
y_e=input(3);
psi_e=input(4);
K=input(5);
p_sigma2=input(6);
u_e=input(7);
gemma_e=input(8);
sigma1=input(9);
sigma2=input(10);
K_dot=input(11);
psi_d_dot=input(12);
%r_d=psi_d_dot+(-K_dot*sin(psi_e)-p_sigma2/m22 -lambda-k4*gemma_e-y_e/m22)/K*cos(psi_e);
r_d=psi_d_dot+(-K_dot*sin(psi_e)-p_sigma2/m22 -lambda-k4*gemma_e-y_e/m22);
%r_d=psi_d_dot;
output=[r_d u_e sigma1 gemma_e];